JPH06146327A - Working machine control device for construction machine - Google Patents

Abstract

PURPOSE:To improve work precision of a construction machine by a method wherein, with regard to a position and a speed during operation, an error between a target value and an actual value is detected and subsequent operation is controlled based on the error signal. CONSTITUTION:A position sensor 5 for detecting an operation position and an operation speed is arranged to a hydraulic cylinder 1 and an output signal therefrom is inputted to a control part 4c of a control means 4. The duty ratio of an output pulse signal is determined by a control part 4c, based on the signal, so that the actual speed and the position of the hydraulic cylinder 1 are adjusted to a value approximately equal to a target value. The actual speed and the position of the hydraulic cylinder 1 are computed to output a result to comparing means 4d and 4e. A target value is also inputted to the comparing means 4d and 4e and an error between an actual value and a target value is outputted. A signal for the error is stored in a memory means 4f and added to target values from a target speed setting means 4a and a target position setting means by means of adding means 4g and 4h. Since a target value obtained by correcting an error during preceding operation is read in the control part 4c, high-precise operation of an operation machine can be achieved at a subsequent time through control thereby.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a drive control device for a working machine of a construction machine. In particular, the present invention relates to a drive control device for controlling a moving path when a working machine of a construction machine is driven.

[0002]

2. Description of the Related Art When a similar operation is repeatedly performed when a working machine of a construction machine is driven, a moving path of the working machine is preset, and the working machine is driven based on a signal about the preset target value. It is convenient to do. For example, when the drive means for driving the working machine is a hydraulic cylinder, a proportional solenoid valve is arranged in a hydraulic circuit leading to the hydraulic cylinder, and the solenoid valve is driven by a control signal having a duty ratio corresponding to a target value. The work machine is driven along a preset path by controlling the operation of the hydraulic cylinder.

[0003]

In this conventional drive control device, in order to reduce the error between the target value and the actual value and to move the working machine along the target path as accurately as possible, the error is reduced. When is large, a method of increasing the gain of the controller has been adopted. However, with this conventional method, there is a limit to increasing the control accuracy, and it is not possible to achieve sufficiently satisfactory control. In addition, the error may not be theoretically reduced depending on the controlled object or input.

The present invention has been made in view of these points, and it is an object of the present invention to provide a drive controller for a working machine of a construction machine, which enables highly accurate control.

[0005]

Means for Solving the Problems In order to solve the above problems, the present invention detects an error between a target value and an actual value for a position or position and speed during operation of a work machine,
The target value is corrected based on this error, and the next control is performed based on the corrected signal. The error signal representing the error between the target value and the actual value may be stored in the storage means, and in the next control, this error signal may be superimposed on the target value to form a new target value. As another method, it is also possible to rewrite the setting of the target value in the target setting means based on the error signal each time the operation is performed.

[0006]

Embodiments of the present invention will be described below with reference to the drawings. In FIG. 1, a hydraulic cylinder 1 is provided to drive a working machine of a construction machine. A control valve 2 is provided in a hydraulic circuit (not shown) for operating the hydraulic cylinder 1, and the opening of the control valve 2 is controlled by the pilot hydraulic pressure from the solenoid proportional valve 3. Control means 4 are provided for supplying a pulse signal to the solenoid proportional valve 3. The control means 4 is composed of, for example, a microprocessor, and functionally, a target speed setting means 4a for setting a target value for an operating speed during the operation of the hydraulic cylinder 1.
And a target position setting means 4b for setting a target value for a path or position during the operation of the hydraulic cylinder 1. Further, the control means 4 reads out respective target values from the target speed setting means 4a and the target position setting means 4b,
The control unit 4c is provided which generates a pulse signal having a predetermined duty ratio based on the target value. The output of the control unit 4c is
It is given to the solenoid proportional valve 3.

A position sensor 5 is provided which detects the operating position of the hydraulic cylinder 1 based on the amount of expansion of the piston rod 1a of the hydraulic cylinder 1. The output signal of the position sensor 5 is input to the control unit 4c of the control means 4. Control unit 4c
Determines the duty ratio of the output pulse signal so that the actual speed and position of the hydraulic cylinder 1 approach the target value based on the signal from the sensor 5. Further, the control unit 4c calculates the actual speed and position of the hydraulic cylinder 1 based on the signal from the sensor 5, and compares the actual speed and position of the hydraulic cylinder 1 based on the calculation result with the comparison means 4d and 4e, respectively.
Output to. The respective target values are also input to the comparison outputs 4d and 4e, and the error between the actual value and the target value is compared by the comparison means 4
It is output from d and 4e. This error signal is stored in the storage means 4f.
Memorized in.

The calculation and storage of this error signal is performed at a predetermined position while the working machine moves along a predetermined movement path. When the operation of the work machine is completed and the same operation is performed next time, the stored value of the error signal at each predetermined position is read, and the addition means 4g and 4h set the target speed setting means 4a and the target position. It is added to the target value from the setting means 4b. Therefore, the target value corrected based on the error in the previous operation is read into the control unit 4c. By this control, highly accurate operation of the working machine can be achieved.

FIG. 2 is a flow chart showing the operation of the embodiment of the present invention. At a predetermined time point t ₁ during the operation of the work machine, the target values V _t1 and P _t1 for the speed and position at that time point are read from the target speed setting means 4a and the target position setting means 4b. Further, the error signals V _{e (t1)} and P _{e (t1)} regarding the speed and the position obtained by the calculation in the previous operation are read from the storage means 4f. Next, the read target value V
_t1, a P _t1, the error signal V _{e (t1),} determines the duty ratio of the drive pulse from the P e _(t1), outputs.

Next, as shown in FIG. 3, the actual speed Va and the actual position Pa are calculated from the detection signal S of the sensor 5. Then, these actual value and target value are compared. When there is no error between the actual value and the target value, the control routine is ended as it is. When there is an error, the error signals V _e and P _e for velocity and position are calculated, and the error signals are stored as new error signals V _{e (t1)} and P _{e (t1)} .

In the above example, the error signal between the target value and the actual value is stored in the storage means, and the error signal is superimposed on the target value in the next operation for control. The invention is not limited to such a configuration. That is, in FIG. 1, it is also possible to input the error signals from the comparing means 4d and 4e to the target speed setting means 4a and the target position setting means 4b, respectively, and rewrite the set values in these setting means based on the error signals. Is. Further, in the above embodiment, the target value is set and the actual value is detected for both the speed and the position of the hydraulic cylinder, but the present invention can be implemented only by setting and detecting the position. .

[0012]

According to the present invention, since the next operation is controlled in consideration of the error between the target value and the actual value of the operation of the working machine of the construction machine, the control accuracy can be improved.

[Brief description of drawings]

FIG. 1 is a block diagram of a control device showing an embodiment of the present invention.

FIG. 2 is a flowchart showing the basic operation of the embodiment of the present invention.

FIG. 3 is a flowchart showing a process of calculating and storing an error signal in the embodiment of the present invention.

[Explanation of symbols]

1 is a hydraulic cylinder, 2 is a control valve, 3 is an electromagnetic proportional valve, 4 is control means, 4a is target speed setting means, 4b is target position setting means, 4c is control part, 4d and 4e are comparing means, 4f is memory. Means 5 indicates a sensor.

Claims (4)

[Claims] 1. A driving means for driving a working machine of a construction machine, and a control means for controlling the operation of the driving means, wherein the control means presets a moving path of the working machine. Target setting means, and a controller that generates a control signal from a target value determined by the target setting means and an actual value for the operating position of the working machine, and based on a control signal from the controller In a drive control device for a working machine of a construction machine adapted to control the operation of the drive means, an error detection means for detecting an error between the target value and the actual value is provided, and in the next operation Is a drive control device for a working machine of a construction machine, wherein the target value is corrected by an error signal output from the error detecting means for control. 2. A driving means for driving a working machine of a construction machine, and a control means for controlling the operation of the driving means, wherein the control means moves the position and speed of the working machine. A target value for presetting a target value for the working machine, a target value for the speed and position of the working machine defined by the target setting means, and a control signal from actual values for the speed and position of the working machine during operation. In the drive control device for the working machine of the construction machine, which is adapted to control the operation of the driving means based on a control signal from the controller, An error detecting means for detecting an error between the target value and the actual value is provided for each position, and the target value is corrected by an error signal output from the error detecting means in the next operation. A drive control device for a working machine of a construction machine, which is characterized in that it is controlled. 3. The control device according to claim 1, wherein a storage unit that stores an error signal that is an output of the error detection unit, and a target value from the target setting unit by reading a storage value of the storage unit. A control device comprising: an addition unit that adds a value. 4. The control device according to claim 1, wherein the target value set in the target setting means is rewritten based on the error signal.